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authorWei Shuai <cpuwolf@gmail.com>2018-01-26 22:02:07 +0800
committerWei Shuai <cpuwolf@gmail.com>2018-01-26 22:02:07 +0800
commit4a2a1b636df7a67722b6b5764efa8cfc63c6a5e1 (patch)
treebd375c924fa72f9eb3ce1d78356785077836f3c1 /tracker-wii/wii_point_extractor.cpp
parentd057e5db1c9ca81d5f60b9cd8001f60dd155f145 (diff)
tracker/wii: new home
Diffstat (limited to 'tracker-wii/wii_point_extractor.cpp')
-rw-r--r--tracker-wii/wii_point_extractor.cpp143
1 files changed, 143 insertions, 0 deletions
diff --git a/tracker-wii/wii_point_extractor.cpp b/tracker-wii/wii_point_extractor.cpp
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+++ b/tracker-wii/wii_point_extractor.cpp
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+/*
+* Copyright (c) 2017-2018 Wei Shuai <cpuwolf@gmail.com>
+*
+* Permission to use, copy, modify, and/or distribute this software for any
+* purpose with or without fee is hereby granted, provided that the above
+* copyright notice and this permission notice appear in all copies.
+*/
+
+#include "wii_point_extractor.h"
+
+#include "point_tracker.h"
+#include "wii_frame.hpp"
+
+#include "cv/numeric.hpp"
+#include "compat/math.hpp"
+
+#include <opencv2/videoio.hpp>
+
+#undef PREVIEW
+//#define PREVIEW
+
+#if defined PREVIEW
+# include <opencv2/highgui.hpp>
+#endif
+
+#include <cmath>
+#include <algorithm>
+#include <cinttypes>
+#include <memory>
+
+#include <QDebug>
+
+using namespace types;
+using namespace pt_module;
+
+
+WIIPointExtractor::WIIPointExtractor(const QString& module_name) : s(module_name)
+{
+
+}
+
+//define a temp draw function
+void WIIPointExtractor::_draw_point(cv::Mat& preview_frame, const vec2& p, const cv::Scalar& color, int thinkness)
+{
+ static constexpr int len = 9;
+
+ cv::Point p2(iround(p[0] * preview_frame.cols + preview_frame.cols / 2),
+ iround(-p[1] * preview_frame.cols + preview_frame.rows / 2));
+
+ cv::line(preview_frame,
+ cv::Point(p2.x - len, p2.y),
+ cv::Point(p2.x + len, p2.y),
+ color,
+ thinkness);
+ cv::line(preview_frame,
+ cv::Point(p2.x, p2.y - len),
+ cv::Point(p2.x, p2.y + len),
+ color,
+ thinkness);
+};
+
+bool WIIPointExtractor::_draw_points(cv::Mat& preview_frame, const struct wii_info &wii, std::vector<vec2>& points)
+{
+ const float W = 1024.0f;
+ const float H = 768.0f;
+ points.reserve(4);
+ points.clear();
+
+ for (unsigned index = 0; index < 4; index++)
+ {
+ const struct wii_info_points &dot = wii.Points[index];
+ if (dot.bvis) {
+ //qDebug() << "wii:" << dot.RawX << "+" << dot.RawY;
+ //anti-clockwise rotate the 2D point
+ const float RX = W - dot.ux;
+ const float RY = H - dot.uy;
+ //vec2 dt((dot.RawX - W / 2.0f) / W, -(dot.RawY - H / 2.0f) / W);
+ //vec2 dt((RX - W / 2.0f) / W, -(RY - H / 2.0f) / W);
+ //vec2 dt((2.0f*RX - W) / W, -(2.0f*RY - H ) / W);
+ vec2 dt;
+ std::tie(dt[0], dt[1]) = to_screen_pos(RX, RY, W, H);
+
+ points.push_back(dt);
+ _draw_point(preview_frame, dt, cv::Scalar(0, 255, 0), dot.isize);
+ }
+ }
+ const bool success = points.size() >= PointModel::N_POINTS;
+
+ return success;
+}
+
+void WIIPointExtractor::_draw_bg(cv::Mat& preview_frame, const struct wii_info &wii)
+{
+ //draw battery status
+ cv::line(preview_frame,
+ cv::Point(0, 0),
+ cv::Point(preview_frame.cols*wii.BatteryPercent / 100, 0),
+ (wii.bBatteryDrained ? cv::Scalar(255, 0, 0) : cv::Scalar(0, 140, 0)),
+ 2);
+
+ //draw horizon
+ int pdelta = iround((preview_frame.rows / 4) * tan((wii.Pitch)* M_PI / 180.0f));
+ int rdelta = iround((preview_frame.cols / 4) * tan((wii.Roll)* M_PI / 180.0f));
+
+ cv::line(preview_frame,
+ cv::Point(0, preview_frame.rows / 2 + rdelta - pdelta),
+ cv::Point(preview_frame.cols, preview_frame.rows / 2 - rdelta - pdelta),
+ cv::Scalar(80, 80, 80),
+ 1);
+}
+
+
+void WIIPointExtractor::extract_points(const pt_frame& frame_, pt_preview& preview_frame_, std::vector<vec2>& points)
+{
+ const cv::Mat& frame = frame_.as_const<WIIFrame>()->mat;
+ const struct wii_info& wii = frame_.as_const<WIIFrame>()->wii;
+ cv::Mat& preview_frame = *preview_frame_.as<WIIPreview>();
+
+ //create a blank frame
+ //cv::Mat blank_frame(preview_frame.cols, preview_frame.rows, CV_8UC3, cv::Scalar(0, 0, 0));
+ //cv::cvtColor(_frame, _frame2, cv::COLOR_BGR2BGRA);
+ //cv::resize(blank_frame, preview_frame, cv::Size(preview_frame.cols, preview_frame.rows), 0, 0, cv::INTER_NEAREST);
+
+ switch (wii.status) {
+ case wii_cam_data_change:
+ _draw_bg(preview_frame, wii);
+ _draw_points(preview_frame, wii, points);
+ break;
+ case wii_cam_wait_for_connect:
+ char txtbuf[64];
+ sprintf(txtbuf, "%s", "wait for WIImote");
+ //draw wait text
+ cv::putText(preview_frame,
+ txtbuf,
+ cv::Point(preview_frame.cols / 10, preview_frame.rows / 2),
+ cv::FONT_HERSHEY_SIMPLEX,
+ 1,
+ cv::Scalar(255, 255, 255),
+ 1);
+ break;
+ }
+}
+